Measurement device, method, and program

Abstract

To provide a measuring device or the like capable of contributing to precise detection and automatic measurement of only an object intended by a user from among a vast point group data.SOLUTION: A measuring device includes: a coordinate designation part configured so as to designate coordinates of an optional point pertaining to a predetermined object by a user's operation from among point groups; an object detection part for detecting and processing a predetermined object on the basis of point groups and coordinates; and a measurement part for measuring and processing length in a vertical direction and horizontal direction of a predetermined object, and an angle relative to a horizontal surface and a vertical surface on the basis of a detection result of the predetermined object. The object detection part acquires coordinates of an optional point pertaining to a predetermined object from the coordinate designation part, selects point groups pertaining to characteristic form of a predetermined object while including points pertaining to acquired coordinates from among point groups pertaining to photographed data, and detects the predetermined object.SELECTED DRAWING: Figure 15

Description

[Technical field]

[0001] The present invention relates to a measurement device, a measurement method, and a program. [Background technology]

[0002] Electric power companies need to measure and manage the height and guy wire angles of utility poles and guy wires to check whether there are any problems with the strength of utility poles installed on the ground. The height and guy wire angles of utility poles are measured periodically by workers using measuring tools. Since there are a huge number of utility poles and guy wires to be measured, there is a demand for facilitating the measurement of the height and guy wire angles of utility poles. One way to facilitate the measurement of height and angle is to use a 3D sensor.

[0003] However, in measuring height and angle using a 3D sensor, the point cloud data captured by the 3D sensor is a collection of points (data with XYZ coordinate information), so workers who are unfamiliar with 3D sensors have difficulty in judging at a glance where the target utility pole or support wire is located. In addition, when measuring the height and support wire angle of utility poles, etc. from point cloud data, for example, when an operation such as picking the target point cloud on a GUI (Graphical User Interface) occurs, there is a problem that a different point cloud is mistakenly picked, and the utility pole or support wire cannot be detected correctly, and the height and support wire angle of the utility pole, etc. cannot be measured. To solve these problems, technology is required to automate and streamline the detection of utility poles and support wires and the measurement of the height and support wire angle of utility poles, etc.

[0004] One example of a technique for automating utility pole detection is a method based on Random Sample Consensus (RANSAC), which aims to reduce the influence of outliers in a given detection value.

[0005] As a technique for automating the detection of branch lines, for example, Patent Document 1 discloses a model generation method for generating a wire model by detecting a wire constituent point group that constitutes a wire from three-dimensional point cloud information, detecting a plurality of piecewise continuous lines that are continuous curves existing in a local region from the detected wire constituent point group, determining whether or not to connect two piecewise continuous lines that are subject to connection determination among the detected plurality of piecewise continuous lines, and connecting the two piecewise continuous lines that are determined to be connected.

[0006] Furthermore, as a technology for automating the detection and measurement of support lines, Patent Document 2 discloses a point cloud analysis processing method in which, based on the positional relationship between a point included in three-dimensional point cloud information and the points surrounding the point, a determination is made as to whether or not the point is a constituent point that constitutes a thin linear object, and constituent points are detected, based on tangential direction information of each of the detected constituent points, straight line elements are detected from the constituent points, the detected straight line elements are used as a thin linear object model representing an initial thin linear object, and a thin linear object model is recursively generated by connecting the thin linear object models based on the proximity state between the thin linear object models and a predetermined connectivity index, and the length of the thin linear object model is estimated from the positions of the points included in the thin linear object model.

[0007] Furthermore, as a technology for automating the detection of utility poles, Patent Document 3 discloses a utility pole management system in which a mobile terminal is mounted on a movable vehicle and used, the mobile terminal comprising: an imaging means for imaging a landscape and obtaining imaging data, a distance measuring means for recognizing the distance between the mobile terminal and a structure in the landscape, a position recognition means for recognizing the mobile terminal's own position, and an attitude recognition means for recognizing the mobile terminal's own spatial attitude; and the system comprises a utility pole recognition means for recognizing a utility pole among the structures using the imaging data and a cross-sectional shape of the structure perpendicular to the ground obtained by the distance measuring means, and for recognizing the position of the utility pole based on the position recognized by the position recognition means, the spatial attitude recognized by the attitude recognition means, and the distance recognized by the distance measuring means; a state recognition means for recognizing the state of the utility pole recognized in the imaging data; and a determination means for determining the presence or absence of an abnormality in the utility pole based on the state recognized by the state recognition means. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] JP 2019-109839 A [Patent Document 2] JP 2015-1901 A [Patent Document 3] Republished Patent No. 2019 / 059091 Summary of the Invention [Problem to be solved by the invention]

[0009] The following analysis is provided by the present inventors.

[0010] However, in the case of automatic detection of utility poles and branch wires as in RANSAC and Patent Documents 1 to 3, the point cloud data of a 3D sensor capable of capturing images over a wide area is huge, so automatic detection of utility poles and branch wires from the huge amount of point cloud data requires high calculation costs and may result in erroneous detection of utility poles and branch wires that are not intended by the user. Furthermore, in the case of automatic detection of utility poles and branch wires as in RANSAC and Patent Documents 1 to 3, the detection accuracy may be poor in a situation where the point cloud is sparse (a situation where only a small portion of the large amount of data is meaningful).

[0011] The main object of the present invention is to provide a measurement device, method, and program that can contribute to automatically measuring by accurately detecting only the object intended by the user from a huge amount of point cloud data. [Means for solving the problem]

[0012] The measurement device according to a first viewpoint includes a coordinate designation unit configured to designate coordinates of an arbitrary point related to a predetermined object from a point cloud related to shooting data by a user's operation, an object detection unit configured to detect the predetermined object based on the point cloud related to the shooting data and the designated coordinates, and a measurement unit configured to measure any of the vertical and horizontal lengths of the predetermined object and angles with respect to a horizontal and vertical planes based on a detection result of the predetermined object, wherein the object detection unit is configured to perform a process of acquiring coordinates of the arbitrary point related to the predetermined object from the coordinate designation unit, and a process of selecting a point cloud related to the shooting data that includes a point related to the acquired coordinates and is related to a characteristic form of the predetermined object, and detecting the predetermined object. 、 The object detection unit, in the process of detecting the predetermined object, A process of detecting a cluster related to the predetermined object by performing clustering on the point cloud related to the photographing data so as to include the point related to the acquired coordinates; A process of detecting the predetermined object that satisfies a characteristic shape of the predetermined object from among the point cloud related to the detected cluster, based on the characteristic shape of the predetermined object that is set in advance; The present invention is configured to:

[0013] The measurement method according to the second viewpoint is a method for measuring either a length or an angle of an object using hardware resources, and includes the steps of: designating coordinates of an arbitrary point related to a predetermined object from a point cloud related to shooting data by a user operation; detecting the predetermined object based on the point cloud related to the shooting data and the designated coordinates; and measuring either vertical and horizontal lengths of the predetermined object and angles with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object, wherein the step of detecting the predetermined object includes the steps of acquiring coordinates of an arbitrary point related to the predetermined object; and detecting the predetermined object by selecting a point cloud related to the shooting data, which includes a point related to the acquired coordinates and is related to a characteristic form of the predetermined object, from the point cloud related to the shooting data. fruit, The step of detecting a predetermined object includes: A step of detecting a cluster related to the predetermined object by performing clustering from the point cloud related to the photographing data so as to include points related to the acquired coordinates; and detecting the predetermined object that satisfies a characteristic shape of the predetermined object from among the point cloud related to the detected cluster, based on the characteristic shape of the predetermined object that is set in advance. .

[0014] A program according to a third aspect is a program for causing a hardware resource to execute a process of measuring either a length or an angle of an object, the program causing the hardware resource to execute a process of designating coordinates of an arbitrary point related to a predetermined object by a user operation from a point cloud related to shooting data, a process of detecting the predetermined object based on the point cloud related to the shooting data and the designated coordinates, and a process of measuring either vertical and horizontal lengths of the predetermined object and angles with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object, the process of detecting the predetermined object including a process of acquiring coordinates of an arbitrary point related to the predetermined object, and a process of selecting a point cloud related to the shooting data, which includes a point related to the acquired coordinates and is related to a characteristic form of the predetermined object, to detect the predetermined object. fruit, The process of detecting the predetermined object includes: A process of detecting a cluster related to the predetermined object by performing clustering on the point cloud related to the photographing data so as to include the point related to the acquired coordinates; and detecting the predetermined object that satisfies a characteristic shape of the predetermined object from among the point cloud related to the detected cluster based on the characteristic shape of the predetermined object that is set in advance. .

[0015] The program can be recorded in a computer-readable storage medium. The storage medium can be a non-transient medium such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. In addition, the present disclosure can be embodied as a computer program product. The program is input to the computer device from an input device or an external device via a communication interface, stored in a storage device, drives the processor according to a predetermined step or process, and can display the processing result, including an intermediate state as necessary, at each stage via a display device, or can communicate with the outside via the communication interface. For example, a computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and a display device as necessary, which are connectable to each other via a bus. Effect of the Invention

[0016] The first to third aspects can contribute to accurate detection and automatic measurement of only the object intended by the user from a huge amount of point cloud data. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a conceptual diagram showing a typical example of a usage mode of the measurement device according to the first embodiment. [Diagram 2] 1 is a block diagram showing a schematic configuration of a measurement device according to a first embodiment. [Diagram 3] 4 is a flowchart illustrating the operation of the measurement device according to the first embodiment. [Figure 4] 4 is a flowchart illustrating an example of an operation of a utility pole detection unit in the measurement device according to the first embodiment when detecting a utility pole. [Diagram 5] FIG. 2 is an image diagram showing an example of acquiring utility pole coordinates when a utility pole is detected by a utility pole detection unit in the measurement device according to the first embodiment. [Figure 6]FIG. 13 is an image diagram showing an example of a case where a cluster is detected by removing a non-utility pole point cloud when a utility pole is detected by a utility pole detection unit in the measurement device according to the first embodiment. [Figure 7] FIG. 2 is an image diagram showing an example of automatic interpolation of clusters when a utility pole is detected by a utility pole detection unit in the measurement device according to the first embodiment. [Figure 8] 5 is a flowchart illustrating an example of an operation of a branch line detection unit in the measurement device according to the first embodiment when detecting a branch line. [Figure 9] 4 is an image diagram showing an example of acquisition of branch line coordinates when a branch line is detected by a branch line detection unit in the measurement device according to the first embodiment. FIG. [Figure 10] 4 is an image diagram showing an example of a case where a straight line is detected during branch line detection by a branch line detection section in the measurement device according to the first embodiment. FIG. [Figure 11] 10 is an image diagram showing an example of automatic interpolation of a straight line when a branch line is detected by a branch line detection section in the measurement device according to the first embodiment. FIG. [Figure 12] 10 is an image diagram showing a schematic representation of an example of a case where there are a plurality of candidates when a straight line is automatically interpolated during branch line detection by the branch line detection unit in the measurement device according to the first embodiment. FIG. [Figure 13] FIG. 11 is a conceptual diagram showing a typical example of a usage mode of the measurement device according to the second embodiment. [Figure 14] FIG. 11 is a conceptual diagram showing a typical example of a usage mode of the measurement device according to the third embodiment. [Figure 15] FIG. 11 is a block diagram showing a schematic configuration of a measurement device according to a fourth embodiment. [Figure 16] FIG. 2 is a block diagram illustrating a schematic configuration of hardware resources. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, the embodiments will be described with reference to the drawings. In addition, when drawing reference symbols are used in this application, they are intended to aid understanding only and are not intended to limit the present invention to the illustrated embodiment. In addition, the following embodiments are merely examples and do not limit the present invention. In addition, the connection lines between blocks in the drawings and the like referred to in the following description include both bidirectional and unidirectional. A unidirectional arrow is a schematic representation of the flow of a main signal (data) and does not exclude bidirectionality. Furthermore, although not explicitly shown in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, and the like shown in the present disclosure, an input port and an output port exist at the input end and output end of each connection line. The same is true for input / output interfaces. A program is executed via a computer device, which includes, for example, a processor, a storage device, an input device, a communication interface, and a display device as necessary, and which is configured to be able to communicate with an internal or external device (including a computer) via the communication interface, regardless of whether it is wired or wireless.

[0019] [Embodiment 1] The measurement device according to the embodiment 1 will be described with reference to the drawings. Fig. 1 is an image diagram showing a typical example of a usage mode of the measurement device according to the embodiment 1. Fig. 2 is a block diagram showing a typical configuration of the measurement device according to the embodiment 1.

[0020] The measuring device 1 is a device that measures and processes the heights X1, Y1 of the utility poles 91a, 91b, the heights X2, Y2 of the branch wires 93a, 93b, the angles X°, Y° (angles with respect to the vertical direction) of the branch wires 93a, 93b, and the root openings X3, Y3 of the branch wires 93a, 93b based on the photographing data 2 of the object (including the utility poles 91a, 91b and the branch wires 93a, 93b) that is the measurement target 90 (see Figs. 1 and 2). The measuring device 1 can be used, for example, for measurement work in electric power companies, detection and measurement work of wires in the construction industry, detection and measurement work of overhead lines in the railway field, detection and measurement work of communication lines in the communication industry, etc. The measuring device 1 has a function of detecting and processing each of the utility poles 91a, 91b, the ground 92, and the branch wires 93a, 93b individually for the object that is the measurement target 90. The measuring device 1 measures the height and angle based on the coordinate information of the object. The measuring device 1 is communicably connected to a three-dimensional sensor 60. The measuring device 1 acquires, from the three-dimensional sensor 60, imaging data 2 relating to an object that is a measurement target 90.

[0021] Here, the three-dimensional sensor 60 is a device that three-dimensionally senses and photographs the surface of an object (including utility poles 91a, 91b and branch wires 93a, 93b) (see Fig. 1 and Fig. 2). The three-dimensional sensor 60 is connected to the measurement device 1 so as to be able to communicate with it. The three-dimensional sensor 60 generates photographic data 2 in a predetermined format by photographing an object to be measured 90, and outputs the generated photographic data 2 to the measurement device 1. For the three-dimensional sensor 60, for example, a ToF (Time of Flight) camera, a stereo camera, a 3D-LIDAR (Laser Imaging Detection And Ranging), a depth sensor, a distance measuring sensor, a distance camera, etc. can be used. The three-dimensional sensor 60 is operated by an operator. The photographic data 2 is data generated by the three-dimensional sensor 60 in a predetermined format, and is point cloud data drawn as a point cloud (a collection of many points having XYZ coordinate (three-dimensional coordinate) information) (see Fig. 2). The three-dimensional sensor 60 can be changed to a sensor device with various output formats according to customer needs.

[0022] A device (computer device) having functional units constituting a computer (e.g., a processor, a storage device, an input device, a communication interface, and a display device) can be used as the measurement device 1, and examples of such devices include a notebook personal computer, a smartphone, and a tablet terminal. The measurement device 1 realizes a preprocessing unit 10, an object detection unit 20, a measurement unit 30, and a user interface unit 40 by executing a predetermined program.

[0023] The pre-processing unit 10 is a functional unit that performs pre-processing for measurement processing on the shooting data 2 (see FIG. 2). The pre-processing unit 10 outputs the pre-processed shooting data 2 to the object detection unit 20. The pre-processing unit 10 includes a format conversion unit 11, a noise removal unit 12, and an angle conversion unit 13.

[0024] The format conversion unit 11 is a functional unit that converts the format of the photographed data 2 into a common format that can be commonly used in the measurement device 1 as pre-processing (see FIG. 2). The format conversion unit 11 outputs the photographed data 2 in the converted common format to the noise removal unit 12. Note that if the format of the photographed data 2 is originally a common format, the processing of the format conversion unit 11 can be omitted (skip).

[0025] The noise removal unit 12 is a functional unit that removes noise (points unnecessary for measurement) from the point cloud in the shooting data 2 from the format conversion unit 11 as pre-processing (see FIG. 2). The noise removal unit 12 outputs the shooting data 2 from which noise has been removed to the angle conversion unit 13. Examples of noise removal methods include smoothing processing, filtering (e.g., moving average filter processing, median filter processing, etc.), and outlier removal processing (e.g., outlier removal processing by chi-square test). Note that if there is almost no noise, the processing by the noise removal unit 12 may be omitted (skip).

[0026] The angle conversion unit 13 is a functional unit that performs angle conversion on the photographed data 2 from the noise removal unit 12 as pre-processing so that the direction of gravity is directed downward (see FIG. 2). The angle conversion unit 13 outputs the angle-converted photographed data 2 to the object detection unit 20. As a method of angle conversion, for example, an IMU (Inertial Measurement Unit) sensor (not shown) is used to convert the angle so that the inclination of the photographed data 2 at the time of photographing is matched to the direction of gravity. Alternatively, angle conversion may be performed based on the coordinates of any point on the utility pole (e.g., utility pole 91a) acquired from the coordinate designation unit 41 instead of the IMU sensor so that point cloud data corresponding to the outer circumferential surface of utility pole 91a is parallel to the Y-axis direction (vertical direction).

[0027] The object detection unit 20 is a functional unit that detects a predetermined object (electric poles 91a, 91b, ground 92, and branch wires 93a, 93b in FIG. 1) based on a point cloud related to the shooting data 2 preprocessed by the preprocessing unit 10 (see FIG. 2). The object detection unit 20 detects an object that satisfies a characteristic shape of the electric poles 91a, 91b, ground 92, and branch wires 93a, 93b from the point cloud related to the shooting data 2. The object may be, for example, an electric wire, a building, a tree, a shrubbery, or ancillary equipment of an electric pole, in addition to the electric poles 91a, 91b, ground 92, and branch wires 93a, 93b. The object detection unit 20 outputs the detection result of each object to the measurement unit 30 and the user interface unit 40. The object detection unit 20 includes an electric pole detection unit 21, a ground detection unit 22, a branch wire detection unit 23, and a detection result storage unit 24.

[0028] The utility pole detection unit 21 is a functional unit that detects utility poles 91a, 91b from a point cloud related to the preprocessed photographed data 2 based on the coordinates of the utility pole acquired from the coordinate designation unit 41 (see FIG. 2). As a method for detecting the utility poles 91a, 91b, for example, a method of detecting a point cloud (point cloud related to utility poles 91a, 91b) that includes points related to the coordinates of the utility pole acquired from the coordinate designation unit 41 and satisfies a preset characteristic form of the utility poles 91a, 91b (for example, a substantially cylindrical surface extending in the vertical direction) from a point cloud related to the photographed data 2 by RANSAC, etc. When the utility pole detection unit 21 detects a utility pole, it generates a detection frame related to the utility pole. An example of a method for detecting the utility poles 91a, 91b (see FIG. 4) will be described later.

[0029] The ground detection unit 22 is a functional unit that detects the ground 92 from the point cloud related to the preprocessed photographed data 2 (see FIG. 2). As a method for detecting the ground 92, for example, there is a method of detecting a point cloud (point cloud related to the ground 92) that satisfies a preset characteristic form of the ground 92 (for example, an approximately horizontal surface, an inclined surface) from the point cloud related to the photographed data 2 by RANSAC, and the like.

[0030] The branch line detection unit 23 is a functional unit that detects and processes the branch lines 93a, 93b from the point cloud related to the preprocessed shooting data 2 based on the coordinates of the branch lines acquired from the coordinate designation unit 41 (see FIG. 2). As a method for detecting the branch lines 93a, 93b, for example, there is a method for detecting and processing an image pattern (an image pattern related to the branch lines 93a, 93b) that includes points related to the coordinates of the branch lines acquired from the coordinate designation unit 41 and satisfies a characteristic form of the branch lines 93a, 93b that has been set in advance (for example, a straight line when viewed from directly above or directly to the side) from an image pattern that has been subjected to a Hough transformation. When the branch line detection unit 23 detects a branch line, it generates a detection frame related to the branch line. Details of the operation of the branch line detection unit 23 (see FIG. 5) will be described later.

[0031] In addition, each detection unit 21-23 may have a function of estimating and interpolating a point cloud relating to an occluded portion (or missing portion) of an object that is hidden by an obstacle and not captured in the shooting data 2 (or was not captured in the first place) based on a point cloud relating to a non-occluded portion of an object that is captured in the shooting data 2, information from other sensors, or pre-stored information.

[0032] The detection result storage unit 24 is a functional unit that stores the detection results obtained by the detection processes performed by the detection units 21 to 23 (see FIG. 2). The detection result storage unit 24 may store the detection results as a database in association with the measurement results of the utility poles and the branch lines performed by the measurement unit 30.

[0033] The measurement unit 30 is a functional unit that measures the height of the utility pole (X1, Y1 in FIG. 1), the height of the branch line (X2, Y2 in FIG. 1), the angle of the branch line (X°, Y° in FIG. 1), and the branch line spacing (X3, Y3 in FIG. 1) based on the detection results of each object by the object detection unit 20 (see FIG. 2). The measurement unit 30 outputs the measurement results to the user interface unit 40. The measurement unit 30 includes a utility pole height measurement unit 31, a branch line height measurement unit 32, a branch line spacing measurement unit 33, and a branch line angle measurement unit 34.

[0034] The utility pole height measurement unit 31 is a functional unit that measures and processes the heights of the utility poles 91a, 91b from the ground 92 (X1, Y1 in Figure 1; the distances from the ground 92 to the tops of the utility poles 91a, 91b) based on the detection results of the utility poles 91a, 91b and the ground 92 detected and processed by the utility pole detection unit 21 and the ground detection unit 22 (see Figure 2).

[0035] The branch line height measuring unit 32 is a functional unit that measures and processes the heights of the branch lines 93a, 93b from the ground 92 (X2, Y2 in Figure 1; the distances from the ground 92 to the apexes of the branch lines 93a, 93b) based on the detection results of the branch lines 93a, 93b and the ground 92 detected and processed by the branch line detection unit 23 and the ground detection unit 22 (see Figure 2).

[0036] The branch line root opening measurement unit 33 is a functional unit that measures and processes the root opening of the branch lines 93a, 93b on the ground surface 92 (X3, Y3 in Figure 1; the distance from the point where the perpendicular line passing through the vertices of the branch lines 93a, 93b intersects with the ground surface 92 to the root points of the branch lines 93a, 93b) based on the detection results of the branch lines 93a, 93b and the ground surface 92 detected and processed by the branch line detection unit 23 and the ground surface detection unit 22 (see Figure 2).

[0037] The support line angle measuring unit 34 is a functional unit that measures and processes the angle (X°, Y° in Figure 1) of the support line 93a or 93b relative to the utility pole 91a or 91b based on the measurement results of the support line height and support line root opening measured and processed by the support line height measuring unit 32 and the support line root opening measuring unit 33 (see Figure 2).

[0038] The user interface unit 40 is a functional unit equipped with a user interface (see FIG. 2). The user interface unit 40 includes a coordinate designation unit 41, a detection result display unit 42, a measurement result display unit 43, and a correction information designation unit 44.

[0039] The coordinate designation unit 41 is a functional unit that designates the coordinates of any point related to the utility poles and the branch wires among the point cloud data (photographed data 2) related to the objects (utility poles 91a, 91b, and branch wires 93a, 93b) by a user operation (see FIG. 2). As a designation method, for example, point picking from a point cloud viewer can be mentioned.

[0040] The detection result display unit 42 is a functional unit that displays the detection results of each object (electric poles 91a, 91b, the ground 92, and branch wires 93a, 93b in FIG. 1) (see FIG. 2).

[0041] The measurement result display unit 43 is a functional unit that displays the measurement results (measurement results of utility pole height, support wire height, support wire angle, and support wire root opening) from the measurement unit 30 (see FIG. 2).

[0042] The correction information designation unit 44 is a functional unit that designates correction information for correcting the detection result displayed on the detection result display unit 42 by a user operation (see FIG. 2). For example, the correction information for utility poles is information when a detection frame for a utility pole displayed on the point cloud viewer is expanded or contracted by a mouse operation or the like. For example, the correction information for branch lines is information when a detection line for a branch line displayed on the point cloud viewer is expanded or contracted by a mouse operation or the like.

[0043] Next, the operation of the measurement device according to the embodiment 1 will be described with reference to the drawings. Fig. 3 is a flow chart that illustrates the operation of the measurement device according to the embodiment 1. Please refer to Figs. 1 and 2 for the configuration of the measurement device and images of objects (electric poles, ground, and support wires).

[0044] First, the preprocessing unit 10 of the measurement device 1 acquires the photographed data 2 relating to the measurement object 90 photographed by the three-dimensional sensor 60 (step A1).

[0045] Next, as preprocessing, the format conversion unit 11 of the preprocessing unit 10 of the measurement device 1 converts the format of the photographed data 2 acquired in step A1 into a common format that can be commonly used in the measurement device 1 (step A2). Note that if the format of the photographed data 2 is originally a common format, the processing of the format conversion unit 11 may be omitted (skip).

[0046] Next, the noise removal unit 12 of the pre-processing unit 10 of the measurement device 1 removes noise from the point cloud in the photographic data 2 converted into the common format in step A2 as pre-processing (step A3). Note that if there is almost no noise, the process of the noise removal unit 12 may be omitted (skip).

[0047] Next, the coordinate designation unit 41 of the user interface unit 40 of the measurement device 1 designates the coordinates of any point related to the utility pole or support wire from the noise-removed shooting data 2 (point cloud data constituting the object) by user operation (step A4).

[0048] Next, the angle conversion unit 13 of the pre-processing unit 10 of the measurement device 1 performs angle conversion (step A5) on the photographed data 2 from which noise has been removed in step A3 as pre-processing so that the direction of gravity is oriented downward. If angle conversion is not required, the process of the angle conversion unit 13 may be omitted (skip).

[0049] Next, the ground detection unit 22 of the object detection unit 20 of the measurement device 1 detects the ground 92 from the point cloud related to the preprocessed photographic data 2 (step A6).

[0050] Next, the utility pole detection unit 21 of the object detection unit 20 of the measurement device 1 detects the utility pole 91a or 91b from the point cloud related to the photographed data 2 angle-converted in step A5 based on the coordinates of the utility pole acquired from the coordinate designation unit 41 and the point cloud related to the ground 92 detected in step A6 (step A7). An example of a method for detecting the utility pole 91a or 91b (see FIG. 4) will be described later.

[0051] Next, branch line detection unit 23 of object detection unit 20 of measurement device 1 detects branch line 93a or 93b from the point cloud related to preprocessed photographed data 2 based on the coordinates of the branch line acquired from coordinate designation unit 41, the point cloud related to ground surface 92 detected in step A6, and the point cloud related to utility pole detected in step A7 (step A8). Details of the operation of branch line detection unit 23 (see FIG. 5) will be described later.

[0052] After step A8, the detection results of each object detected in steps A6 to A8 may be stored in the detection result storage unit 24 and displayed on the detection result display unit 42 of the user interface unit 40.

[0053] Next, the utility pole height measuring unit 31 of the measuring unit 30 of the measuring device 1 measures the height of the utility pole 91a or 91b from the ground 92 (X1 or Y1 in Figure 1; the distance from the ground 92 to the top of the utility pole 91a or 91b) based on the detection results of the utility pole 91a or 91b and the ground 92 detected by the utility pole detection unit 21 and the ground detection unit 22 (step A9).

[0054] Next, the branch line height measuring unit 32 of the measuring section 30 of the measuring device 1 measures the heights of the branch lines 93a, 93b from the ground 92 (X2, Y2 in Figure 1; the distances from the ground 92 to the apexes of the branch lines 93a, 93b) based on the detection results of the branch lines 93a, 93b and the ground 92 detected by the branch line detection unit 23 and the ground detection unit 22 (step A10).

[0055] Next, the branch line opening measuring unit 33 of the measuring section 30 of the measuring device 1 measures the opening of the branches 93a, 93b on the ground surface 92 (X3 or Y3 in Figure 1; the distance from the point where a perpendicular line passing through the vertex of the branch line 93a or 93b intersects with the ground surface 92 to the root point of the branch line 93a or 93b) based on the detection results of the branches 93a, 93b and the ground surface 92 detected by the branch line detection unit 23 and the ground surface detection unit 22 (step A11).

[0056] Finally, the branch line angle measuring unit 34 of the measuring section 30 of the measuring device 1 measures and processes the angle of the branch line 93a or 93b relative to the utility pole 91a or 91b based on the measurement results of the branch line height and branch line root opening measured and processed by the branch line height measuring unit 32 and the branch line root opening measuring unit 33 (step A12).

[0057] The order of steps A9 to A12 may be reversed. After step A12, the measurement results obtained by the measurement processing in steps A9 to A12 may be stored in the detection result storage unit 24 and displayed on the measurement result display unit 43 of the user interface unit 40.

[0058] Next, the operation of the utility pole detection unit in the measurement device according to the first embodiment (step A7 in FIG. 3) will be described with reference to the drawings. FIG. 4 is a flow chart that shows an example of the operation of the utility pole detection unit in the measurement device according to the first embodiment when detecting a utility pole. FIG. 5 is an image diagram that shows an example of acquiring utility pole coordinates when the utility pole detection unit in the measurement device according to the first embodiment detects a utility pole. FIG. 6 is an image diagram that shows an example of detecting a cluster by removing non-utility pole point clouds when a utility pole is detected by the utility pole detection unit in the measurement device according to the first embodiment. FIG. 7 is an image diagram that shows an example of automatically interpolating a cluster when a utility pole is detected by the utility pole detection unit in the measurement device according to the first embodiment. Please refer to FIG. 2 for the configuration of the measurement device.

[0059] After step A6 (ground detection), the utility pole detection unit 21 of the object detection unit 20 of the measurement device 1 acquires the coordinates (utility pole coordinates; for example, (x1, y1, z1) in FIG. 5) of an arbitrary point related to a utility pole (for example, utility pole 91a in FIG. 5) from the coordinate designation unit 41 (step B1). Note that although the acquired utility pole coordinates are the utility pole coordinates of only one point in FIG. 5, they may be the utility pole coordinates of multiple points.

[0060] Next, the utility pole detection unit 21 of the object detection unit 20 of the measurement device 1 removes point clouds other than the utility pole coordinates and the point cloud related to the predetermined range (non-utility pole point cloud: point cloud not to be detected) based on the utility pole coordinates acquired in step B1 (step B2). Note that the point cloud related to the utility pole coordinates and the predetermined range may include a part of the point cloud related to the ground or the support wire.

[0061] Next, the utility pole detection unit 21 of the object detection unit 20 of the measurement device 1 performs clustering on the point cloud data from which the non-utility pole point cloud has been removed in step B2 so as to include points related to the utility pole coordinates acquired in step B1, and detects a cluster related to a utility pole (for example, a point cloud including the utility pole 91a in FIG. 6) (step B3). When a cluster is detected, a detection frame 95 as shown in FIG. 6 is generated so as to include the cluster.

[0062] Next, the utility pole detection unit 21 of the object detection unit 20 of the measuring device 1 performs automatic interpolation for the cluster detected in step B3, by stretching the upper limit of the Y axis of the cluster along the Y axis to the apex of the utility pole (reference position), and by performing automatic interpolation for stretching the lower limit of the Y axis of the cluster along the Y axis to the point cloud (reference position) related to the ground 92 detected in step A6, to detect a utility pole (for example, utility pole 91a in FIG. 7) (step B4). Note that, when the base of utility pole 91a reaches the ground 92 as in the utility pole 91a in FIG. 7, automatic interpolation for stretching to the ground 92, which is the lower limit of the Y axis of the cluster, can be omitted (skip). When a cluster is interpolated, a detection frame 95 related to the cluster is interpolated, and the interpolated post-interpolation detection frame 96 becomes the detection frame related to the utility pole (see FIG. 7). For example, a method of detecting a utility pole includes a method of detecting a utility pole that satisfies a predetermined characteristic form of the utility pole (for example, a cylindrical surface, a conical surface) from among the points related to the detected cluster.

[0063] Next, the utility pole detection unit 21 of the object detection unit 20 of the measurement device 1 judges whether there is an error in the utility pole detection result in step B4 (step B5). The judgment of the presence or absence of an error in the detection result is made by displaying the detection result and a screen asking whether there is an error in the detection result, and having the user refer to the detection result and judge the presence or absence of an error in the detection result by the user's operation. If there is no error in the utility pole detection result (YES in step B5), the process ends and proceeds to step A8 (branch line detection) in FIG. 3.

[0064] If there is an error in the detection result of the utility pole (NO in step B5; for example, there is a shortage or excess in the interpolation in step B4), the utility pole detection unit 21 of the object detection unit 20 of the measurement device 1 acquires correction information related to the utility pole specified by the user's operation from the correction information specification unit 44, corrects the detection result based on the correction information (re-interpolates and re-detects the utility pole) (step B6), and then ends and proceeds to step A8 (branch line detection) in Fig. 3. An example of the correction information related to the utility pole is information obtained when the detection frame related to the utility pole displayed on the point cloud viewer is expanded or contracted by mouse operation or the like.

[0065] Next, the operation of the branch line detection unit in the measurement device according to the first embodiment (step A8 in FIG. 3) will be described with reference to the drawings. FIG. 8 is a flow chart that shows an example of the operation of the branch line detection unit in the measurement device according to the first embodiment when detecting a branch line. FIG. 9 is an image diagram that shows an example of acquisition of branch line coordinates when detecting a branch line by the branch line detection unit in the measurement device according to the first embodiment. FIG. 10 is an image diagram that shows an example of detection of a straight line when detecting a branch line by the branch line detection unit in the measurement device according to the first embodiment. FIG. 11 is an image diagram that shows an example of automatic interpolation of a straight line when detecting a branch line by the branch line detection unit in the measurement device according to the first embodiment. FIG. 12 is an image diagram that shows an example of automatic interpolation of a straight line when detecting a branch line by the branch line detection unit in the measurement device according to the first embodiment when there are multiple candidates. For the configuration of the measurement device, refer to FIG. 2.

[0066] After step A7 (electric pole detection), the branch line detection unit 23 of the object detection unit 20 of the measurement device 1 acquires coordinates (branch line coordinates; for example, (x2, y2, z2) in FIG. 9) of an arbitrary point related to a branch line (for example, branch line 93a in FIG. 9) from the coordinate designation unit 41 (step C1). Note that, although the acquired branch line coordinates are the branch line coordinates of only one point in FIG. 9, the branch line coordinates may be the branch line coordinates of multiple points.

[0067] Next, the branch line detection unit 23 of the object detection unit 20 of the measurement device 1 detects a straight line shape (hereinafter, sometimes referred to as a "straight line") including a point related to the branch line coordinates acquired in step C1 (step C2). When a straight line is detected, a detection line 97 (which may be a detection frame including the straight line) is generated (see FIG. 10).

[0068] Next, the branch line detection unit 23 of the object detection unit 20 of the measurement device 1 performs automatic interpolation on the straight line detected in step C2 to extend or retract the upper end of the straight line to the utility pole detected in step A7, and performs automatic interpolation on the lower end of the straight line to the ground detected in step A6, thereby detecting a branch line (for example, branch line 93a in FIG. 11) (step C3). Note that if branch line 93a reaches utility pole 91a or ground 92, as in the case of branch line 93a in FIG. 11, automatic interpolation to extend or retract the straight line can be omitted (skip). When a straight line is interpolated, a detection line 97 relating to the straight line is interpolated, and the interpolated detection line 98 becomes the detection line relating to the branch line (see FIG. 11). 12, when there are grounds 92a and 92b at different heights, a first candidate post-interpolation detection line 98a (a post-interpolation detection line from the intersection of the branch line 93a with the utility pole to the intersection with the same plane as the ground 92a) and a second candidate post-interpolation detection line 98b (a post-interpolation detection line from the intersection of the branch line 93a with the utility pole to the intersection with the same plane as the ground 92b) having different lengths may be displayed as post-interpolation detection lines related to the branch line, and the user may select one of them. Such a method of displaying multiple candidates and allowing the user to select may be applied to the post-interpolation detection frame.

[0069] Next, the branch line detection unit 23 of the object detection unit 20 of the measurement device 1 determines whether or not there is an error in the branch line detection result in step C3 (step C4). If there is no error in the branch line detection result (YES in step C4), the process ends and proceeds to step A9 (electric pole height measurement) in FIG. 3.

[0070] If there is an error in the detection result of the branch line (NO in step C4; for example, there is a shortage or excess in the interpolation in step C3), the branch line detection unit 23 of the object detection unit 20 of the measurement device 1 acquires correction information related to the branch line specified by the user's operation from the correction information specification unit 44, corrects the detection result based on the correction information (re-interpolates straight lines and re-detects the branch line) (step C5), and then ends and proceeds to step A9 (measurement of utility pole height) in Fig. 3. An example of the correction information related to the branch line is information obtained when the detection line related to the branch line displayed on the point cloud viewer is extended or shortened by mouse operation or the like.

[0071] According to the first embodiment, the user can specify arbitrary coordinates of objects to be measured from point cloud data captured by a 3D sensor to detect utility poles and branch wires, which contributes to accurate detection and automatic measurement of only the objects intended by the user from a huge amount of point cloud data. Furthermore, according to the first embodiment, the user can specify arbitrary coordinates of utility poles and branch wires to be measured by operation, which can eliminate erroneous detection in automatic detection. Furthermore, since the user can freely change the detection results, even if an error occurs in the automatic measurement results, it becomes possible to perform measurements without being affected by occlusion, thereby improving the measurement accuracy.

[0072] [Embodiment 2] The measurement device according to the second embodiment will be described with reference to the drawings. Fig. 13 is a schematic conceptual diagram showing an example of a usage mode of the measurement device according to the second embodiment.

[0073] The second embodiment is a modification of the first embodiment, and uses a measuring device 1 with a built-in three-dimensional sensor unit 50. As the measuring device 1, for example, a portable information processing device such as a smartphone or tablet terminal that originally has a built-in three-dimensional sensor unit 50 (e.g., a depth sensor, a ToF camera, etc.) can be used. The configuration and operation of the measuring device 1 according to the second embodiment, other than the three-dimensional sensor unit 50, are the same as those of the measuring device according to the first embodiment (see FIG. 2).

[0074] According to the second embodiment, as in the first embodiment, it is possible to contribute to accurately detecting and automatically measuring only the object intended by the user from a huge amount of point cloud data, and to make it easier to handle the measuring device 1.

[0075] [Embodiment 3] The measurement device according to the third embodiment will be described with reference to the drawings. Fig. 14 is a schematic conceptual diagram showing an example of a usage mode of the measurement device according to the third embodiment.

[0076] The third embodiment is a modification of the first embodiment, and has a configuration in which the measurement device 1 is communicably connected via a network 80 to an information communication terminal 70 having a built-in three-dimensional sensor unit 71 .

[0077] The measurement device 1 may be the same as the measurement device according to the first embodiment (see FIG. 2), and may be a device on the cloud or a server device. The measurement device 1 is connected to the network 80 so as to be capable of wired communication, but may also be connected to the network 80 so as to be capable of wireless communication. The operation of the measurement device 1 is the same as that of the measurement device according to the first embodiment (see FIGS. 3, 4, and 8).

[0078] The information communication terminal 70 is a terminal device that communicates information. For example, a smartphone, tablet terminal, or the like that originally has a built-in three-dimensional sensor unit 71 (e.g., a depth sensor, a ToF camera, or the like) can be used as the information communication terminal 70. The information communication terminal 70 is connected to a network 80 so as to be capable of wireless communication, but may also be connected to the network 80 so as to be capable of wired communication. The information communication terminal 70 has a function of transmitting, to the measurement device 1, image data (corresponding to 2 in FIG. 2) obtained by photographing a measurement target 90 with the three-dimensional sensor unit 71.

[0079] The network 80 is an information and communication network that communicatively connects the measuring device 1 and the information and communication terminal 70. For example, a communication network such as a personal area network (PAN), a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), or a global area network (GAN) can be used as the network 80. The network 80 includes a wireless base station, communication equipment, wired cables, and the like.

[0080] According to embodiment 3, as in embodiment 1, it is possible to contribute to accurately detecting and automatically measuring only the object intended by the user from a huge amount of point cloud data, and it is also possible to simultaneously photograph the measurement target object 90 at multiple locations, perform separation distance measurement in one location, and centrally manage the measured separation distances.

[0081] [Embodiment 4] The measurement device according to the fourth embodiment will be described with reference to the drawings. Fig. 15 is a block diagram showing a schematic configuration of the measurement device according to the fourth embodiment.

[0082] The measuring device 1 is a device that measures the length and angle of an object in a predetermined direction based on shooting data 2 related to the object to be measured. The measuring device 1 includes a coordinate designation unit 41, an object detection unit 20, and a measurement unit 30. The coordinate designation unit 41 is configured to designate the coordinates of any point related to the predetermined object among the point cloud related to the shooting data 2 by a user's operation. The object detection unit 20 is configured to detect the predetermined object based on the point cloud related to the shooting data 2 and the designated coordinates. The measurement unit 30 is configured to measure any one of the vertical and horizontal lengths of the predetermined object and the angles with respect to the horizontal and vertical planes based on the detection result of the predetermined object.

[0083] The object detection unit 20 is configured to perform the processes of acquiring the coordinates of any point relating to a specified object from the coordinate designation unit 41, and detecting the specified object by selecting a point cloud relating to the shooting data 2 that includes a point relating to the acquired coordinates and that relates to a characteristic form of the specified object.

[0084] According to the fourth embodiment, the user can specify any coordinates of an object to be measured from the point cloud related to the shooting data 2 and detect the object, which contributes to accurate detection and automatic measurement of only the object intended by the user from a huge amount of point cloud data.

[0085] The measuring devices according to the first to fourth embodiments can be configured by so-called hardware resources (information processing device, computer), and can use those having the configuration shown in Fig. 16. For example, the hardware resource 100 includes a processor 101, a memory 102, a network interface 103, and the like, which are connected to each other by an internal bus 104.

[0086] 16 is not intended to limit the hardware configuration of the hardware resource 100. The hardware resource 100 may include hardware (e.g., an input / output interface) that is not shown. Furthermore, the number of units such as the processor 101 included in the device is not intended to be limited to the example shown in FIG. 16, and for example, multiple processors 101 may be included in the hardware resource 100. For example, a CPU (Central Processing Unit), an MPU (Micro Processor Unit), a GPU (Graphics Processing Unit), etc. may be used as the processor 101.

[0087] The memory 102 may be, for example, a random access memory (RAM), a read only memory (ROM), a hard disk drive (HDD), a solid state drive (SSD), or the like.

[0088] The network interface 103 may be, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like.

[0089] The functions of the hardware resource 100 are realized by the above-mentioned processing module. The processing module is realized, for example, by the processor 101 executing a program stored in the memory 102. The program can be updated by downloading it via a network or by using a storage medium storing the program. Furthermore, the processing module may be realized by a semiconductor chip. That is, it is sufficient that the functions performed by the processing module are realized by executing software on some kind of hardware.

[0090] A part or all of the above-described embodiments may be described as, but is not limited to, the following supplementary notes.

[0091] [Appendix 1] a coordinate designation unit configured to designate coordinates of an arbitrary point related to a predetermined object from among the point cloud related to the photographing data by a user operation; an object detection unit configured to detect and process the predetermined object based on the point cloud related to the shooting data and the specified coordinates; a measurement unit configured to measure any one of a vertical length and a horizontal length of the predetermined object and an angle with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object; Equipped with The object detection unit A process of acquiring coordinates of an arbitrary point related to the predetermined object from the coordinate designation unit; A process of detecting the predetermined object by selecting a point cloud including the point related to the acquired coordinates and related to a characteristic shape of the predetermined object from the point cloud related to the shooting data; and

[0023] Measuring equipment. [Appendix 2] The object detection unit, in the process of detecting the predetermined object, A process of detecting a cluster related to the predetermined object by performing clustering on the point cloud related to the photographing data so as to include the point related to the acquired coordinates; A process of detecting the predetermined object that satisfies a characteristic shape of the predetermined object from among the point cloud related to the detected cluster, based on the characteristic shape of the predetermined object that is set in advance;

[0023] Attachment 1: Measuring device. [Appendix 3] the object detection unit is further configured to perform a process of removing a non-detection target point group other than a point group related to the acquired coordinates and a predetermined range thereof; In the process of detecting the cluster, a cluster related to the predetermined object is detected by performing clustering among a point cloud obtained by removing the non-detection target point cloud from the point cloud related to the photographing data so as to include a point related to the acquired coordinates. Attachment 2: Measuring device. [Appendix 4] In the process of detecting the predetermined object satisfying the shape, automatic interpolation is performed on the detected cluster to expand or contract the cluster along a predetermined direction to a reference position detected based on a preset reference, thereby detecting the predetermined object satisfying the shape. 4. The measuring device according to claim 2 or 3. [Appendix 5] The measuring device further includes a correction information designation unit that designates correction information for correcting the detection result by a user operation, The object detection unit further a process of determining whether or not there is an error in the detection result of the predetermined object satisfying the shape due to a user operation after the process of detecting the predetermined object satisfying the shape; a process of acquiring correction information from the correction information designation unit when an error exists in the detection result, and re-interpolating the cluster based on the correction information, thereby re-detecting the predetermined object that satisfies the shape;

[0023] Attachment 4: Measuring apparatus. [Appendix 6] The object detection unit is further configured to detect and process a ground surface from a point cloud related to the photographing data, the predetermined object satisfying the shape is a utility pole, The measurement unit is configured to measure a height of the utility pole from the ground based on each detection result of the utility pole and the ground detected by the object detection unit. 6. A measuring device according to any one of claims 1 to 5. [Appendix 7] The object detection unit is configured to perform a process of detecting the predetermined object related to a linear shape including a point related to the acquired coordinates from a point cloud related to the shooting data in the process of detecting the predetermined object. 7. A measuring device according to any one of claims 1 to 6. [Appendix 8] In the process of detecting the predetermined object related to the linear shape, automatic interpolation is performed on the detected linear shape to expand or contract the linear shape along a direction of the linear shape to a reference position detected based on a preset reference, thereby detecting the predetermined object related to the linear shape. 7. The measuring device according to claim 7. [Appendix 9] The measuring device further includes a correction information designation unit that designates correction information for correcting the detection result by a user operation, The object detection unit further a process of determining whether or not there is an error in the detection result of the predetermined object related to the straight line shape due to a user operation after the process of detecting the predetermined object related to the straight line shape; a process of acquiring correction information from the correction information designation unit when an error exists in the detection result, and re-interpolating the straight-line shape based on the correction information, thereby re-detecting the predetermined object related to the straight-line shape;

[0023] 7. The measuring device according to claim 8. [Appendix 10] The object detection unit is further configured to detect and process a ground surface from a point cloud related to the photographing data, the predetermined object related to the straight line shape is a branch line, The measurement unit is configured to measure a height of the branch line from the ground based on each detection result of the branch line and the ground detected by the object detection unit. 10. A measuring device according to any one of claims 1 to 9. [Appendix 11] The measurement unit is configured to measure an opening of the branch line on the ground based on each detection result of the branch line and the ground detected by the object detection unit. 11. The measuring device according to claim 10. [Appendix 12] The measurement unit is configured to measure and process an angle of the branch wire with respect to the utility pole based on each measurement result of the height and the root spread of the branch wire measured and processed by the measurement unit. 12. The measuring device according to claim 11. [Appendix 13] An angle conversion unit that performs angle conversion on the photographing data so that the direction of gravity is downward, The object detection unit is configured to use the shooting data angle-converted by the angle conversion unit. 13. A measuring device according to any one of claims 1 to 12. [Appendix 14] Further comprising a storage unit that stores each detection result obtained by the detection processing or each measurement result obtained by the measurement processing. 14. A measuring device according to any one of claims 1 to 13. [Appendix 15] Further comprising a display unit that displays each detection result obtained by the detection processing or each measurement result obtained by the measurement processing. 15. A measuring device according to any one of claims 1 to 14. [Appendix 16] The measurement device is configured to be communicatively connected to a three-dimensional sensor that photographs a measurement object and outputs the photographed data. 16. A measuring device according to any one of claims 1 to 15. [Appendix 17] Further comprising a three-dimensional sensor unit for photographing the measurement object and outputting the photographed data. 16. A measuring device according to any one of claims 1 to 15. [Appendix 18] A method for measuring one of a length and an angle of an object using hardware resources, comprising: A step of specifying coordinates of an arbitrary point related to a predetermined object from among the point cloud related to the shooting data by a user operation; detecting the predetermined object based on the point cloud related to the photographing data and the specified coordinates; measuring any one of a vertical length and a horizontal length of the predetermined object and an angle with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object; Including, In the step of detecting the predetermined object, obtaining coordinates of an arbitrary point related to the predetermined object; detecting the predetermined object by selecting a point cloud including a point related to the acquired coordinates and related to a characteristic shape of the predetermined object from the point cloud related to the shooting data; Including, Measurement method. [Appendix 19] A program for causing a hardware resource to execute a process for measuring either a length or an angle of an object, A process of designating coordinates of an arbitrary point related to a predetermined object from among the point cloud related to the photographing data by a user operation; A process of detecting the predetermined object based on the point cloud related to the shooting data and the specified coordinates; A process of measuring any one of a vertical length and a horizontal length of the predetermined object and an angle with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object; on the hardware resource; In the process of detecting the predetermined object, A process of acquiring coordinates of an arbitrary point related to the predetermined object; A process of detecting the predetermined object by selecting a point cloud including the point related to the acquired coordinates and related to a characteristic shape of the predetermined object from the point cloud related to the shooting data; and Including, program.

[0092] The disclosures of the above patent documents are incorporated herein by reference and may be used as the basis or part of the present invention as necessary. Within the framework of the entire disclosure of the present invention (including the claims and drawings), and further based on the basic technical idea, modifications and adjustments of the embodiments and examples are possible. Furthermore, within the framework of the entire disclosure of the present invention, various combinations or selections (or non-selection as necessary) of various disclosed elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. In other words, the present invention naturally includes various modifications and corrections that a person skilled in the art would be able to make according to the entire disclosure, including the claims and drawings, and the technical idea. Furthermore, with regard to the numerical values ​​and numerical ranges described in this application, any intermediate value, lower numerical value, and small range are deemed to be described even if not specified. Furthermore, the disclosures of the above cited documents may be used in part or in whole in combination with the descriptions in this document as part of the disclosure of the present invention as necessary, in accordance with the spirit of the present invention, and are deemed to be included (belong) in the disclosures of this application. [Explanation of symbols]

[0093] 1. Measurement equipment 2. Shooting data 10 Pretreatment section 11 Format conversion section 12 Noise Reduction Section 13 Angle conversion section 20 Object detection section 21 Utility pole detector 22 Ground detection section 23 Branch line detector 24 Detection result storage unit 30 Measurement section 31 Utility pole height measurement section 32. Guy height measurement section 33. Branch line root measurement section 34 Support line angle measurement section 40 User Interface Section 41 Coordinate specification section 42 Detection result display section 43 Measurement result display section 44 Correction information specification section 50 3D sensor section 60 3D Sensor 70 Information and communication terminals 71 3D sensor section 80 Network 90 Measurement Object 91, 91a, 91b Electric poles 92, 92a, 92b ground 93, 93a, 93b branch line 95 Detection Frame 96 Interpolated detection frame 97 Detection Line 98 Interpolated detection line 98a First candidate detection line after interpolation 98b Second candidate post-interpolation detection line 100 Hardware Resources 101 Processor 102 Memory 103 Network Interface 104 Internal Bus

Claims

1. A coordinate designation unit configured to designate coordinates of any point related to a predetermined object from among a point cloud related to shooting data by a user operation; an object detection unit configured to detect and process the predetermined object based on the point cloud related to the shooting data and the specified coordinates; a measurement unit configured to measure any one of a vertical length and a horizontal length of the predetermined object and an angle with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object; Equipped with The object detection unit A process of acquiring coordinates of an arbitrary point related to the predetermined object from the coordinate designation unit; A process of detecting the predetermined object by selecting a point cloud including the point related to the acquired coordinates and related to a characteristic shape of the predetermined object from the point cloud related to the shooting data; and configured to: The object detection unit, in the process of detecting the predetermined object, A process of detecting a cluster related to the predetermined object by performing clustering on the point cloud related to the photographing data so as to include the point related to the acquired coordinates; A process of detecting the predetermined object that satisfies a characteristic shape of the predetermined object from among the point cloud related to the detected cluster, based on the characteristic shape of the predetermined object that is set in advance; The measurement device is configured to:

2. the object detection unit is further configured to perform a process of removing non-detection target points other than the point group related to the acquired coordinates and a predetermined range thereof; In the process of detecting the cluster, a cluster related to the predetermined object is detected by performing clustering among a point cloud obtained by removing the non-detection target point cloud from the point cloud related to the photographing data so as to include a point related to the acquired coordinates. The measurement device according to claim 1.

3. In the process of detecting the predetermined object satisfying the shape, automatic interpolation is performed on the detected cluster to expand or contract the cluster along a predetermined direction to a reference position detected based on a preset reference, thereby detecting the predetermined object satisfying the shape. The measuring device according to claim 1 or 2.

4. The measuring device further includes a correction information designation unit that designates correction information for correcting the detection result by a user operation, The object detection unit further a process of determining whether or not there is an error in the detection result of the predetermined object satisfying the shape due to a user operation after the process of detecting the predetermined object satisfying the shape; a process of acquiring correction information from the correction information designation unit when an error exists in the detection result, and re-interpolating the cluster based on the correction information, thereby re-detecting the predetermined object that satisfies the shape; 4. The method of claim 3, The measuring device according to claim 3.

5. The object detection unit is configured to perform a process of detecting the predetermined object related to a linear shape including a point related to the acquired coordinates from a point cloud related to the shooting data in the process of detecting the predetermined object.

5. The measuring device according to claim 1.

6. In the process of detecting the predetermined object related to the linear shape, automatic interpolation is performed on the detected linear shape to expand or contract the linear shape along a direction of the linear shape to a reference position detected based on a preset reference, thereby detecting the predetermined object related to the linear shape. The measuring device according to claim 5.

7. The measuring device further includes a correction information designation unit that designates correction information for correcting the detection result by a user operation, The object detection unit further a process of determining whether or not there is an error in the detection result of the predetermined object related to the straight line shape due to a user operation after the process of detecting the predetermined object related to the straight line shape; a process of acquiring correction information from the correction information designation unit when an error exists in the detection result, and re-interpolating the straight-line shape based on the correction information, thereby re-detecting the predetermined object related to the straight-line shape; 4. The method of claim 3, The measuring device according to claim 6.

8. A method for measuring one of a length and an angle of an object using hardware resources, comprising: A step of specifying coordinates of an arbitrary point related to a predetermined object from among the point cloud related to the shooting data by a user operation; detecting the predetermined object based on the point cloud related to the photographing data and the specified coordinates; measuring any one of a vertical length and a horizontal length of the predetermined object and an angle with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object; Including, In the step of detecting the predetermined object, obtaining coordinates of an arbitrary point related to the predetermined object; detecting the predetermined object by selecting a point cloud including a point related to the acquired coordinates and related to a characteristic shape of the predetermined object from the point cloud related to the shooting data; Including, The step of detecting a predetermined object includes: A step of detecting a cluster related to the predetermined object by performing clustering from the point cloud related to the photographing data so as to include points related to the acquired coordinates; and detecting the specified object that satisfies a predetermined characteristic shape of the specified object from among the point cloud related to the detected cluster based on the characteristic shape of the specified object.

9. A program for causing a hardware resource to execute a process for measuring either a length or an angle of an object, A process of designating coordinates of an arbitrary point related to a predetermined object from among the point cloud related to the photographing data by a user operation; A process of detecting the predetermined object based on the point cloud related to the shooting data and the specified coordinates; A process of measuring any one of a vertical length and a horizontal length of the predetermined object and an angle with respect to a horizontal plane and a vertical plane based on a detection result of the predetermined object; on the hardware resource; In the process of detecting the predetermined object, A process of acquiring coordinates of an arbitrary point related to the predetermined object; A process of detecting the predetermined object by selecting a point cloud including the point related to the acquired coordinates and related to a characteristic shape of the predetermined object from the point cloud related to the shooting data; and Including, The process of detecting the predetermined object includes: A process of detecting a cluster related to the predetermined object by performing clustering on the point cloud related to the photographing data so as to include the point related to the acquired coordinates; and detecting the specified object that satisfies a predetermined characteristic shape of the specified object from among the point cloud related to the detected cluster.

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